GenericConstraintSolver
-----------------------

Context: Sofa.Component.Constraint.Lagrangian.Solver

A Generic Constraint Solver using the Linear Complementarity Problem formulation to solve Constraint based components

Data:
 - name : object name
 - printLog : if true, emits extra messages at runtime.
 - tags : list of the subsets the objet belongs to
 - bbox : this object bounding box
 - componentState : The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).
 - listening : if true, handle the events, otherwise ignore the events
 - resolutionMethod : Method used to solve the constraint problem, among: "ProjectedGaussSeidel", "UnbuiltGaussSeidel" or "for NonsmoothNonlinearConjugateGradient"
 - maxIterations : maximal number of iterations of the Gauss-Seidel algorithm
 - tolerance : residual error threshold for termination of the Gauss-Seidel algorithm
 - sor : Successive Over Relaxation parameter (0-2)
 - scaleTolerance : Scale the error tolerance with the number of constraints
 - allVerified : All contraints must be verified (each constraint's error < tolerance)
 - newtonIterations : Maximum iteration number of Newton (for the NonsmoothNonlinearConjugateGradient solver only)
 - multithreading : Build compliances concurrently
 - computeGraphs : Compute graphs of errors and forces during resolution
 - graphErrors : Sum of the constraints' errors at each iteration
 - graphConstraints : Graph of each constraint's error at the end of the resolution
 - graphForces : Graph of each constraint's force at each step of the resolution
 - graphViolations : Graph of each constraint's violation at each step of the resolution
 - currentNumConstraints : OUTPUT: current number of constraints
 - currentNumConstraintGroups : OUTPUT: current number of constraints
 - currentIterations : OUTPUT: current number of constraint groups
 - currentError : OUTPUT: current error
 - reverseAccumulateOrder : True to accumulate constraints from nodes in reversed order (can be necessary when using multi-mappings or interaction constraints not following the node hierarchy)
 - constraintForces : OUTPUT: constraint forces (stored only if computeConstraintForces=True)
 - computeConstraintForces : enable the storage of the constraintForces.

Links:
 - context : Graph Node containing this object (or BaseContext::getDefault() if no graph is used
 - slaves : Sub-objects used internally by this object
 - master : nullptr for regular objects, or master object for which this object is one sub-objects
 - constraintCorrections : List of constraint corrections handled by this constraint solver